The invention discloses an in-service wind power blade main beam hidden danger detection robot and a detection method thereof. The device comprises a quad-rotor unmanned aerial vehicle, a wheel type mobile chassis, a curved surface self-adaptive phased array ultrasonic scanning structure and a camera detection system. The curved surface self-adaptive phased array ultrasonic scanning structure comprises a curved surface self-adaptive unit and a phased array ultrasonic probe used for detecting internal defects of a blade girder, and under the action of the curved surface self-adaptive unit, the phased array ultrasonic probe is kept vertical to a detection surface and clings to the detection surface when moving on the curved surface; the camera detection system comprises an unmanned aerial vehicle body camera and a vehicle body camera module installed below the wheel type movable chassis, the unmanned aerial vehicle body camera is used for detecting environment information in the running direction of the robot, and the vehicle body camera module is used for detecting the working condition of the curved surface self-adaptive phased array ultrasonic scanning structure and damage to the blade surface. The device can adapt to the variable-curvature curved surface of the wind power blade during detection, and can detect the internal and external defects of a main beam of the in-service blade at the same time.
本发明公开了一种在役风电叶片主梁隐患检测机器人及其检测方法。它包括四旋翼无人机、轮式移动底盘、曲面自适应相控阵超声扫查结构和相机检测系统。曲面自适应相控阵超声扫查结构包括曲面自适应单元和用于检测叶片主梁内部缺陷的相控阵超声探头,在曲面自适应单元作用下,保证相控阵超声探头在曲面上移动时保持垂直检测面,并紧贴所述检测面;相机检测系统包括无人机主体摄像头和安装在轮式移动底盘下方车体相机模块,无人机主体摄像头用于检测机器人运行方向的环境信息,车体相机模块用于检测曲面自适应相控阵超声扫查结构工作情况和叶片表面的损伤。本发明可以检测时可以自适应风电叶片的变曲率曲面,同时还能检测在役叶片主梁内外缺陷。
In-service wind power blade main beam hidden danger detection robot and detection method thereof
一种在役风电叶片主梁隐患检测机器人及其检测方法
20.10.2023
Patent
Elektronische Ressource
Chinesisch
IPC: | B64U / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / G01N Untersuchen oder Analysieren von Stoffen durch Bestimmen ihrer chemischen oder physikalischen Eigenschaften , INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / F03D Windkraftmaschinen , WIND MOTORS / B62D MOTOR VEHICLES , Motorfahrzeuge |
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